Title :
Practical rendezvous through modified circumcenter algorithms
Author_Institution :
California Univ., San Diego
Abstract :
We present modified nonlinear circumcenter algorithms to achieve "practical" rendezvous when agents take noisy measurements of their neighbors\´ positions. Assuming a uniform probability distribution of the noise in a disk about the true position, we analyze the algorithms in 1D. In particular, we provide a characterization of the practical stability ball via deterministic and stochastic analysis tools. The higher dimensional cases are discussed in simulation and we propose modified "parallel" circumcenter algorithms that can be used with guaranteed performance.
Keywords :
distributed control; stability; statistical distributions; stochastic processes; deterministic analysis tools; distributed cooperative systems; nonlinear circumcenter algorithms; probability distribution; stability ball; stochastic analysis tools; Algorithm design and analysis; Analytical models; Convergence; Noise measurement; Noise robustness; Performance analysis; Position measurement; Probability distribution; Stability analysis; USA Councils;
Conference_Titel :
Decision and Control, 2007 46th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
978-1-4244-1497-0
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2007.4434171
